Semi-adversarial task reallocation. Given the inherent flexibility to adapt
and learn to perform different tasks efficiently, it is reasonable that not all
robots within a swarm will be working on the same task at the same time, as different
system operators dynamically reallocate swarms and sub-swarms to tasks in
real-time. Previous work in swarm robotics in general, and foraging in particular,
assumed that system operators will have exclusive use of the entire swarm (of
whatever size) for the task at hand (i.e., \(\mathcal {N}=N(t)\)  for
all \(t\) ) ([1]}, [2]}, [3]}, [4]}, [5]}). For
simplicity of analysis, we assume that all robot reallocations are independent and
can happen at any time; future work may explore more complex reallocation models.
